version: 66.03
glider: 148
mission: 4
dive: 8
start: 8 4 108 8 49 26
data:
$ID,148
$MISSION,4
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,510
$D_ABORT,700
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,170
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52629
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2200
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3998.8145
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2749
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-11.792777
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043992815
$SEABIRD_T_H,0.00064238382
$SEABIRD_T_I,2.7016365e-05
$SEABIRD_T_J,3.0340441e-06
$SEABIRD_C_G,-10.010528
$SEABIRD_C_H,1.1459081
$SEABIRD_C_I,-0.0015769247
$SEABIRD_C_J,0.00021306775
$GPS1,083937,2346.078,-15726.921,25,1.6,26,10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.5
$GPS2,084833,2346.094,-15726.849,11,1.8,11,10.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WPT1
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,-0.074
$KALMAN_X,7429.0,1565.0,80.7,-4590.8,2190.6
$KALMAN_Y,3156.6,1385.2,-430.6,-1614.1,-246.0
$MHEAD_RNG_PITCHd_Wd,243.2,114042,-17.5,-10.000
$D_GRID,510
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,411,2075,2895
$GC,90,-1.27,-146.0,3.4,-6.8,9,122,12.10,2.58,-9.07,0.000,4,0.160,0.060,2706,541,3347
$GC,368,-1.27,-146.0,61.4,-16.8,43,377,0.00,2.22,0.00,0.000,6,0.000,0.029,2706,1936,3347
$GC,629,-1.27,-146.0,101.0,-15.1,68,633,0.00,2.30,0.00,0.000,4,0.000,0.050,2706,537,3348
$GC,886,-1.27,-146.0,138.7,-14.7,90,896,0.00,2.25,0.00,0.000,6,0.000,0.030,2706,1949,3348
$GC,1151,-1.27,-146.0,171.3,-12.4,115,1155,0.00,2.33,0.00,0.000,4,0.000,0.053,2706,536,3349
$GC,1380,-1.27,-146.0,200.7,-13.0,135,1383,0.00,2.22,0.00,0.000,6,0.000,0.032,2706,1951,3349
$GC,1657,-1.27,-146.0,232.7,-11.3,142,1661,0.00,2.33,0.00,0.000,4,0.000,0.059,2707,546,3349
$GC,1868,-1.27,-146.0,257.4,-11.4,146,1875,0.00,2.25,0.00,0.000,6,0.000,0.034,2706,1951,3349
$GC,2118,-1.27,-146.0,282.6,-10.1,153,2122,0.00,2.35,0.00,0.000,4,0.000,0.066,2706,546,3349
$GC,2274,-1.27,-146.0,299.3,-10.6,156,2279,0.00,2.25,0.00,0.000,6,0.000,0.042,2706,1942,3349
$GC,2541,-1.27,-146.0,323.3,-8.8,163,2545,0.00,2.35,0.00,0.000,4,0.000,0.063,2706,546,3348
$GC,2769,-1.27,-146.0,345.5,-9.9,168,2773,0.00,2.28,0.00,0.000,6,0.000,0.043,2706,1947,3347
$GC,3047,-1.27,-146.0,370.1,-8.9,175,3051,0.00,2.38,0.00,0.000,4,0.000,0.073,2706,548,3345
$GC,3180,-1.27,-146.0,383.0,-9.4,178,3184,0.00,2.28,0.00,0.000,6,0.000,0.043,2706,1943,3344
$GC,3463,-1.27,-146.0,408.3,-9.0,185,3467,0.00,2.38,0.00,0.000,4,0.000,0.071,2706,548,3342
$GC,3607,-1.27,-146.0,423.4,-10.7,188,3612,0.00,2.30,0.00,0.000,6,0.000,0.049,2706,1951,3341
$GC,3880,-1.27,-146.0,449.1,-9.3,195,3884,0.00,2.40,0.00,0.000,4,0.000,0.071,2706,548,3340
$GC,4100,-1.27,-146.0,470.2,-9.7,200,4104,0.00,2.28,0.00,0.000,6,0.000,0.044,2706,1950,3338
$GC,4382,-1.27,-146.0,495.0,-8.7,207,4386,0.00,2.40,0.00,0.000,4,0.000,0.072,2706,548,3337
$STATE,4541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4542,begin apogee
$GC,4548,-0.31,0.0,510.3,9.0,210,4666,0.95,0.00,115.35,0.910,6,0.100,0.000,2914,1948,2749
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4669,1.27,146.0,512.5,0.0,213,4796,1.50,2.53,119.53,0.881,4,0.058,0.084,3266,3359,2152
$GC,4840,1.27,146.0,502.2,12.8,217,4845,0.00,2.42,0.00,0.000,6,0.000,0.052,3266,1955,2147
$GC,5118,1.27,146.0,465.7,13.1,224,5122,0.00,2.53,0.00,0.000,4,0.000,0.087,3266,543,2143
$GC,5308,1.27,146.0,438.6,14.1,228,5312,0.00,2.35,0.00,0.000,6,0.000,0.046,3266,1943,2140
$GC,5580,1.27,146.0,404.8,12.5,235,5584,0.00,2.42,0.00,0.000,4,0.000,0.070,3266,543,2138
$GC,5836,1.27,146.0,368.6,14.7,240,5843,0.00,2.33,0.00,0.000,6,0.000,0.044,3266,1943,2137
$GC,6086,1.27,146.0,338.2,12.3,247,6090,0.00,2.40,0.00,0.000,4,0.000,0.067,3266,542,2136
$GC,6196,1.27,146.0,323.9,12.2,249,6201,0.00,2.33,0.00,0.000,6,0.000,0.041,3266,1950,2135
$GC,6457,1.27,146.0,296.0,10.6,256,6461,0.00,2.40,0.00,0.000,4,0.000,0.071,3266,542,2134
$GC,6714,1.27,146.0,264.3,11.1,261,6721,0.00,2.30,0.00,0.000,6,0.000,0.038,3266,1951,2134
$GC,6964,1.29,156.1,239.9,9.5,268,6975,0.00,2.40,6.38,0.627,4,0.000,0.064,3266,539,2112
$GC,7228,1.29,156.1,210.9,10.4,274,7232,0.00,2.28,0.00,0.000,6,0.000,0.037,3266,1957,2111
$GC,7492,1.32,186.2,185.7,8.6,290,7526,0.00,2.45,25.92,0.685,4,0.000,0.066,3266,539,1989
$GC,7776,1.32,186.2,151.8,12.2,315,7786,0.00,2.30,0.00,0.000,6,0.000,0.037,3266,1952,1987
$GC,8038,1.32,186.2,124.3,10.6,340,8042,0.00,2.35,0.00,0.000,4,0.000,0.057,3267,539,1985
$GC,8274,1.32,186.2,97.3,10.4,361,8278,0.00,2.25,0.00,0.000,6,0.000,0.034,3266,1951,1985
$GC,8537,1.37,225.2,73.4,8.2,385,8577,0.10,2.38,33.15,0.579,4,0.067,0.061,3302,538,1831
$GC,8645,1.37,225.2,60.8,13.8,394,8649,0.00,2.25,0.00,0.000,6,0.000,0.035,3301,1949,1829
$GC,8907,1.37,225.2,32.8,10.4,418,8911,0.00,2.35,0.00,0.000,4,0.000,0.054,3302,538,1826
$GC,9017,1.37,225.2,19.7,12.1,435,9025,0.00,2.28,0.00,0.000,6,0.000,0.033,3302,1951,1826
$STATE,9183,end climb,SURFACE_DEPTH_REACHED
$STATE,9183,begin surface coast
$FINISH,0.3,1.012522
$STATE,9218,end surface coast,CONTROL_FINISHED_OK
$STATE,9218,begin surface
$SM_CCo,9236,111.50,0.507,0,0,1036,420.20
$SM_GC,1.21,0.00,0.00,111.50,0.000,0.000,0.507,413,1954,1036,-11.85,0.14,420.20
$IRIDIUM_FIX,2335.63,-15727.33,291097,080841
$TT8_MAMPS,0.027612
$HUMID,1604
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.10
$XPDR_PINGS,139
$24V_AH,23.8,4.271
$10V_AH,10.2,2.954
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.425,93.725,300.325,111.500,0.000,55.815,63.337,271.213,34.750,0.000,0.000,12.845,1015.482,5818.518,487.302,2081.617,494.836,33.330,1328.114,0.000,2060.462,0.000,0.470
$DEVICE_MAMPS,160.303,86.671,909.662,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.050,254.404,369.253,387.129,816.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35104,471
$CAP_FILE_SIZE,92077,0
$CFSIZE,260165632,258056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040808,112617,2346.026,-15726.747,8,5.8,27,10.3